3-D Model-Based Tracking for UAV Indoor Localization

• Published in: IEEE transactions on cybernetics Vol. 45; no. 5; pp. 869 - 879
• Main Authors: Teuliere, Celine, Marchand, Eric, Eck, Laurent
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.05.2015
• Subjects: Aircraft; Algorithms; Cameras; Clustering algorithms; Computer Simulation; Image edge detection; Image Interpretation, Computer-Assisted - methods; Imaging, Three-Dimensional - methods; Minimization; Model-based tracking; Models, Statistical; Navigation; particle filtering; Pattern Recognition, Automated - methods; Robotics - methods; Robustness; Solid modeling; Subtraction Technique; UAV application; UAV application; particle filtering; Model-based tracking

This paper proposes a novel model-based tracking approach for 3-D localization. One main difficulty of standard model-based approach lies in the presence of low-level ambiguities between different edges. In this paper, given a 3-D model of the edges of the environment, we derive a multiple hypothese...